Such books are often called science fantasy novels. The wikipedia page on them has some novels and series you could consider.
A little digging reveals this list on goodreads: Books with the best blend of sci-fi and fantasy.
I recently picked up:
Although I haven't read more than a handful of pages so far. However, I suspect at least some of the Darkover novels will meet your specifications.
You also might look into some of L.E. Modesitt, Jr's works - for example, Magi'i of Cyador (Recluce Series #10) has some definite scifi elements to it, but is primarily fantasy.
David Weber has written several works like that - in particular, I'd highlight In Fury Born (Fury Series #2) . By the way, you can find an ebook version of that book, but not from B&N - Baen Books, the publisher, has their own ebook distributor, so you won't find Baen ebooks on B&N... which is a little inconvenient, but I suppose DRM-free ebooks for $6 would make the rest of the competition look pretty silly.
Hopefully something in there sounds interesting. I haven't read any Warhammer books, so I don't have much basis for comparison.
Edit: Oh - and you might also get some suggestions if you ask on the Fantasy & Science Fiction board here.